B fix conditional wait (#528)

* fix conditional wait
shadow-robot · Jul 20, 2020 · 0fffd51 · 0fffd51
1 parent 37aafe3
commit 0fffd51
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Showing 3 changed files with 35 additions and 23 deletions.
diff --git a/sr_moveit_hand_config/launch/moveit_planning_and_execution.launch b/sr_moveit_hand_config/launch/moveit_planning_and_execution.launch
@@ -17,15 +17,19 @@
     <arg name="hand_ik_solver_path" value="$(arg hand_ik_solver_path)"/>
   </include>
 
-  <include file="$(find sr_moveit_hand_config)/launch/move_group.launch">
-    <arg name="hand_ik_solver_path" value="$(arg hand_ik_solver_path)"/>
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="false"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="publish_monitored_planning_scene" value="true"/>
-    <arg name="pipeline" value="$(arg planning)"/>
-  </include>
+  <node name="conditional_delayed_rostool_movegroup_hand" pkg="sr_utilities_common" type="conditional_delayed_rostool.py" output="screen" required="true">
+    <param name="package_name" value="sr_moveit_hand_config" />
+    <param name="executable_name" value="move_group.launch" />
+    <rosparam param="params_list">[/robot_description, /robot_description_semantic]</rosparam>
+    <param name="launch_args_list" value="hand_ik_solver_path:=$(arg hand_ik_solver_path)
+    allow_trajectory_execution:=true
+    fake_execution:=false
+    info:=true
+    debug:=$(arg debug)
+    publish_monitored_planning_scene:=true
+    pipeline:=$(arg planning)"/>
+    <param name="timeout" value="20.0" />
+  </node>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <group if="$(arg gui)">

diff --git a/sr_multi_moveit/sr_box_ur10_moveit_config/launch/planning_and_execution.launch b/sr_multi_moveit/sr_box_ur10_moveit_config/launch/planning_and_execution.launch
@@ -7,9 +7,13 @@
     <arg name="side" value="$(arg side)"/>
   </include>
 
-  <include file="$(find sr_box_ur10_moveit_config)/launch/move_group.launch">
-    <arg name="side" value="$(arg side)"/>
-  </include>
+  <node name="conditional_delayed_rostool_movegroup_box" pkg="sr_utilities_common" type="conditional_delayed_rostool.py" output="screen" required="true">
+    <param name="package_name" value="sr_box_ur10_moveit_config" />
+    <param name="executable_name" value="move_group.launch" />
+    <rosparam param="params_list">[/robot_description, /robot_description_semantic]</rosparam>
+    <param name="launch_args_list" value="side:=$(arg side)"/>
+    <param name="timeout" value="20.0" />
+  </node>
 
   <group if="$(arg use_gui)">
     <node name="conditional_delayed_rostool_rviz_multi" pkg="sr_utilities_common" type="conditional_delayed_rostool.py" output="screen" required="true">

diff --git a/sr_multi_moveit/sr_multi_moveit_config/launch/moveit_planning_and_execution.launch b/sr_multi_moveit/sr_multi_moveit_config/launch/moveit_planning_and_execution.launch
@@ -26,17 +26,21 @@
   <!-- Broadcast static tf for robot root -->
   <!--node name="virtual_joint_broadcaster" pkg="sr_multi_moveit_config" type="virtual_joint_broadcaster.py" output="screen" /-->
 
-  <include file="$(find sr_multi_moveit_config)/launch/move_group.launch">
-    <arg name="hand_ik_solver_path" value="$(arg hand_ik_solver_path)"/>
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="false"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="publish_monitored_planning_scene" value="true"/>
-    <arg name="pipeline" value="$(arg planning)"/>
-    <arg name="generate_planning_config" value="$(arg generate_planning_config)"/>
-    <arg name="robot_config_file" value="$(arg robot_config_file)"/>
-  </include>
+  <node name="conditional_delayed_rostool_movegroup_multi" pkg="sr_utilities_common" type="conditional_delayed_rostool.py" output="screen" required="true">
+    <param name="package_name" value="sr_multi_moveit_config" />
+    <param name="executable_name" value="move_group.launch" />
+    <rosparam param="params_list">[/robot_description, /robot_description_semantic]</rosparam>
+    <param name="launch_args_list" value="hand_ik_solver_path:=$(arg hand_ik_solver_path)
+    allow_trajectory_execution:=true
+    fake_execution:=false
+    info:=true
+    debug:=$(arg debug)
+    publish_monitored_planning_scene:=true
+    pipeline:=$(arg planning)
+    generate_planning_config:=$(arg generate_planning_config)
+    robot_config_file:=$(arg robot_config_file)"/>
+    <param name="timeout" value="20.0" />
+  </node>
 
   <group if="$(arg gui)">
     <node name="conditional_delayed_rostool_rviz_multi" pkg="sr_utilities_common" type="conditional_delayed_rostool.py" output="screen" required="true">